本論文的研究目的在於藉由非線性摩擦力的補償，以達到線性馬
達的精密運動控制。由於摩擦力現象在馬達運行時會產生複雜的抵抗
力，因此LuGre摩擦力模型被應用於描述摩擦力行為並作回授補償。
此外，馬達運動性能亦受其他因素(例如cogging force、建模誤差、速
度估測雜訊)影響，故雜訊觀察器被應用於排除摩擦力以外因素造成
的追蹤誤差。前饋控制配合增益控制器則被應用於改善隨著追蹤訊號
頻率增高而造成追蹤能力的衰減。本研究包含LuGre摩擦力模型參數
識別，並將此模型藉由實驗來驗證其對精密運動控制的誤差補償。由
實驗可知，經由增益控制器、前饋控制以及雜訊觀察器所得的控制
結果，可有效改善馬達運動控制誤差並與理論相符。另一方面，加
入LuGre摩擦力模型控制後產生的抖動問題，亦於最後加以討論。

The main goal of this paper is to achieve precision motion control of linear motor with
nonlinear friction phenomena compensation. Because friction phenomena act as complex
resistant force when motor moves, LuGre friction model was applied to capture the friction
characteristics and added into feedback control. In addition, the motion performance was
also affected by other factors(for example, cogging force, modeling error and measured
noise.); therefore, the disturbance observer was applied to reduce tracking error due to these
factors. Feed-forward with proportional controller was added to remedy decline of tracking
performance when frequencies of position command increased. In this research, parameters
identification of LuGre friction model was included. To study its contribution in motion
control, the model was applied into control schemes and implemented by experiment. From
experiment results, motion control with proportional controller, feed-forward control and
disturbance observer showed improvement in error reduction, which was consistent with
theoretical analysis. On the other hand, the tracking vibration due to applying disturbance
observer and LuGre friction model were the problems being discussed in this paper, too.

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